Study of the control method of actively changing flexural rigidity of flexible manipulator arm

摘要

First of all, the effect of flexural rigidity on the elastic vibration amplitude of the end position of flexible manipulator arm is analysed systematically, and according to this analysis, we hold that the increase of flexural rigidity can reduce the vibration amplitude of the end position of flexible manipulator arm. Then, the effect of axial tensile force on natural frequency and flexural rigidity is analysed, and we deem that the increase of axial tensile force can increase effectively the natural frequency and flexural rigidity, and, the increase of axial tensile force is favorable to the suppression of the elastic vibration of the end position of flexible manipulator arm. After all, the control method of actively changing rigidity by which the elastic vibration amplitude of the end position of flexible manipulator arm can be controlled through regulating the axial tensile force is put forward.